Integration with C++ socket

I am not familiar with TCP/IP programming, and because I am used to work with MuJoCo in C++, I am trying to use this new integration feature with a C++ socket. However, I am having a really hard time with it.

Can someone help me with some example or advice about what I should do??

The software distribution includes a Python example. Programming your own sockets in C/C++ is more complex, and if you don't have experience with it, you should perhaps find some library instead of trying to do it yourself.